This action might not be possible to undo. Are you sure you want to continue?
Norwegian University of Science and Technology
Faculty of Engineering Science and Technology Department of Marine Technology
Research Project Proposal for PhD Thesis
“ENERGY MANAGEMENT OF MARINE ELECTRICAL POWER SYSTEMS – CONTROL OF INTEGRATED, AUTONOMOUS POWER SYSTEMS”
Supervisor: Co-advisors: Professor Alf Kåre Ådnanes, Department of Marine Technology Professor Asgeir J. Sørensen, Department of Marine Technology Professor Tor Arne Johansen, Department of Engineering Cybernetics
Trondheim, Norway August 2004
and also to improve overall safety and reliability. It is expected that MBPC control should further improve the resistant to faults. (1994). In the next generation systems. et al. Defining the optimization constraints is the special task of this thesis. Knowles (1990). as well as to decrease overall operational costs. Ådnanes (2003). marine machinery systems and . (2003). Hansen (2000). Brunvoll. including fault-tolerant control. (1995). Sørensen (2004b). the ability to easily combine models and methods to develop more fundamental insight into the total systems behavior. The main goal of that part of the research is to improve the resistance to major machinery faults. Hansen et al. Smart Motor. Nowadays. Department of Marine Technology and Faculty of Information Technology. In that respect. (2000). the new equipment and modern control systems can provide new possibilities for improving present control strategies. (1998). Power system simulation model should be used to explore possibilities of energy management system (EMS) as the control from the highest level and to provide means of developing methods of localoptimization and plant control. safety. Various kinds of simulations should be performed and various algorithms should be tested and verified with the aim of such model. Ådnanes (1999). system redundancy and higher flexibility with engine room arrangement. Marintek. 2 Objectives Optimum operation and control of the power system are essential for safe operation with minimum operational costs (fuel consumption). That is why risk analysis (RA) and condition based monitoring (CBM) should be applied in optimization algorithm to the proper extent. Optimization algorithm should be part of the Energy Management System (EMS).e. (2002). Norpropeller. various machinery limits and constraints are not properly defined onboard. Sørensen (2004a). ABB Marine. (1987) Camacho et al. and utilization of the installation. That might be one of the main reasons for operational difficulties which exist with these highly automated complex electrical systems.1 Background This thesis is part of NTNU project ENERGY-EFFICIENT ALL ELECTRIC SHIP (EE-AES) Faculty of Engineering Science and Technology. To be able to analyze increasingly more complex systems of interest. its characteristics and limitations will be an advantage in design of new systems. Electric propulsion will provide better vessel manouverability. According to that it is first necessary to design the power system simulation model which should include mathematical models of electrical and mechanical machinery components to the required level of complexity. The last part of the thesis should be to design model based prediction control (MBPC) Clarke et al. The present state of the art type of tools and methods for analyzing combined power systems does only to a limited extent utilize the possibilities for increased knowledge available in the more advanced models and methods developed and used within each of the machinery and electrical engineering disciplines. Department of Electrical Power Engineering in cooperation with Aker Elektro. Hansen. On vessels where there is a large variation in load demand reduced fuel consumption and optimal power/energy management may be regarded as advantages that are still not fully utilized. Mathematics and Electrical Engineering. control system which will be designed to meet requirements of various operational and environmental conditions. It is also expected that an improved control system should provide overall higher level of safety and reliability. Ordys et al. reliability and durability of all machinery components. performance. i. Also possibilities to apply onboard diagnosing methods and tools used in automotive and aerospace industry should be explored. Optimization control should provide means of optimal allocation and distribution of energy onboard ship. Blanke et al. Leira et al. trips and blackout.
is represented by models with the same level of complexity from an integrated system point of view. NTNU. Norway. Development and testing of the model based prediction control (MBPC) algorithm for hardware in the loop simulation. Design dynamic optimization algorithm – stationary and transient states. EMS should provide means of optimal allocation and distribution of energy onboard ship subject to operating conditions. and positioning system. • • • • 3 Scope The work to be carried out can be summarized as follows: • • • Specify basic and overall requirements and characteristics of present and expected future marine electrical power and propulsion systems. plant control and energy management systems (local optimization). A key activity will be to develop and establish a complete power system simulation model for overall system performance verifications. Design of failure mode and effect analysis (FMEA) module. The main objective is to develop higher-level energy management system (EMS) which monitors and has the overall control functionality of the power system and which will be the integrating element in a totally integrated power. safety requirements and operational availability. Improve goal function and optimization constraints according to increased knowledge available in the • . Trondheim. automation. Design power systems module which can be part of the multy-disciplinary Marine Cybernetics Simulator (MC-Sim) developed on the Department of Marine Technology. but also to include analysis of dynamic behavior in extreme operational cases for the total system including low level control. including: • Design and testing of the overall control system including Energy management system and power management system (EMS/PMS) and individual controllers for the local power consumers and power generating units. as described in Sørensen et al. ranging from thermal engines and mechanical drive trains to purely electrical loads and converters. (2003). Explore present optimization philosophy regarding fuel consumption and power/energy management. as well as control and protection of the distribution system. A main challenge in this respect is to create a functional and modular system model where all critical components are adequately represented. Explore the possibilities for extending present power management systems to energy management systems (EMS). The targeted ships and applications will be selected in cooperation with ABB Marine. to a large extent. The high-level EMS have to be well integrated functionally with low level controllers which interacts with producers and consumers of electrical energy. be based on models (modules) already available at the various research groups. The system model will serve a number of purposes.the control management systems are an integrated part of the system to an even higher level than found today. but there is a need to adapt and combine the various models into one unified system model. This means that each type of component in the system. Design the power system simulation model for the overall system performance verifications. Design of optimization algorithms which can be utilized to optimize steady state performance. Study the characteristics and utilization possibilities of present control strategies and power management system (PMS) levels. Development of fault-tolerant control which would include onboard diagnostic methods and tools. similar to those being used in automotive and aerospace industry. Such a model can.
1 Modeling All machinery – power consumers and power producers will be modeled to the required level of complexity. Identify the weak areas of present control strategies regarding safety and reliability. Modules developed by other students/employees will be integrated in the simulator. 4 Research Methodology 4. Develop the methods to decrease power oscillation on the network by use of advanced optimization methods. MCSim currently consists of the following modules: . Design of control system is specific task since control system represents the highest level of control onboard ship. called Marine Cybernetics Simulator (MCSim) is being developed as part of the project work. Explore the possibilities of energy management system to prevent machinery overload based on integrated vessel risk analysis and overall reliability. in cooperation with related activities at the Dept. or which could change feasible region in the real-time optimization process. (2003). 4. It can be achieved after complete analysis and research of the different control strategies and optimization approaches. The simulator will be used in testing of vessel models and vessel control systems. and is intended for use by students and employees at NTNU. which will be used to test control system performance. Design fault-tolerant control algorithm. Therefore. Use dynamic settings to move safety control limits. Proper fault simulation and FMEA would require models where. Develop the methods for hardware in the loop simulation. of Engineering Cybernetics at NTNU. Modular principle in simulation descibed in Sørensen et al. local thruster control systems and other relevant applications.2 Control system design Control system design is the final task and the last process in the thesis.3 Simulations A vessel simulator. as well as thruster models. Sørensen et al. it is a combined process with modeling and simulations.• • • • • more advanced models and methods developed and used within each of the machinery and electrical engineering disciplines. mathematical modeling of power systems should be performed iteratively. Improve the resistance to major machinery faults. It may be hard to predict which level can be suitable for the required tasks defined under objectives and scope. 4. besides electrical machinery models. Analyze the optimization constraints regarding to safety control limits. trips and blackout. more complex models of diesel engines and/or gas turbines may be required. That would further improve fault-tolerant control and optimization with respect to energy management. (2003) will provide adequate level during the process since some older simple modules can be substituted with new ones which have higher level of complexity. of Marine Technology and the Dept. In that respect some simple models can be substituted with more accurate models. Explore the possibilities to apply onboard diagnosing methods and tools used in automotive and aerospace industry. MATLAB/SIMULINK is the most suitable software for all required tasks. MCSim will also be used for rapid control prototyping. Apply risk analysis (RA) and condition based monitoring (CBM) in the optimization algorithm. The simulator will be highly modular. which should provide more variables that could be optimized. Therefore. Design failure mode and effect analysis module (FMEA). in order to generate control code to be used in the model tests.
etc. The system level controllers are implemented in control stations or PLCs. (2003). Various machinery simulation models including non-electrical – 4 stroke diesel engine. monitoring. The WF model is based on standard motion transfer functions. Ådnanes et al. its characteristics and limitations will be an advantage in design of new systems. combined power plant. Thruster module. ventilation and water exit. the ability to easily combine models and methods to develop more fundamental insight into the total systems behavior. Sørensen (2004a) and Sørensen et al. In these one will find the energy management functions. Currently. consisting of a nonlinear output feedback PID controller for DP.and current-induced inline and transverse water velocities.• • • • Environmental module. thruster dynamics and local thruster control. and the process plant. where physical and functional integration is a vital design philosophy. and network disturbances from harmonic effects the load and generators are interacting and influencing each other. there will be a need for low level fast-response control. containing a linear wave model. The local thruster control schemes are speed. gas-. Due to the need for separate testing and clear responsibility. Control system module for energy/power management systems (EMS/PMS). Optimization algorithms for energy management systems (EMS). Vessel dynamics module. To be able to analyze increasingly more complex systems of interest. The types of the future required methods for analysis are not only to optimize steady state performance. torque and power control. However. The safety and automation system required to monitor and control the power plant. and protection systems of the power and propulsion plant systems. Sørensen et al. Vessel control module. with load models from wind. 5 Expected results Developing new and complex machinery systems should be carefully analyzed using relevant theoretical methods for performance. Energy control system (energy management system) monitors and has the overall control functionality of the power system. consisting of a LF and a WF model. the present state of the art type of tools and methods for analyzing such combined systems does only to a limited extent utilize the possibilities for increased knowledge available in the more advanced models and methods developed and used within each of the machinery and electrical engineering disciplines. load variations. Optimum operation and control of the power system is essential for safe operation with a minimum of fuel consumption. (1997). steam-turbine. start-up and reconfiguration sequence control. only a ducted main propeller is implemented. Ådnanes (1999). as well as loss model due to wave. becomes of increasing importance for a reliable and optimum use of the installation. Proposed further work is: • • • • • Electrical power system simulation model. They can be centralized or distributed computers. containing a simple thrust allocation routine for non-rotating thrusters. and protection of devices and . The dynamics consists of a nominal 4 quadrant thruster model. and also preliminary versions of an anti-spin system. depending on design philosophy for the vessel. (1998). current and wave-drift. such as power management. By starting and inrush transients. The trend is towards hierarchy-implemented control. The interconnecting point for all installed power equipment is the power distribution system. a surface current model and a wind model including gust. propulsion and thruster system. MBPC – model based prediction control algorithm. monitoring. safety and reliability. blackout prevention functions. but also to include analysis of dynamic behavior in extreme operational cases for the total system including low level control and energy management systems. The LF model is based on the standard 6DOF vessel dynamics.
This is obtained by monitoring the load and status of the generator sets and the power system. Sørensen. 6. Sørensen (2004a). Department of Marine Technology Professor Tor Arne Johansen. Department of Marine Technology Professor Asgeir J.3 Advisors Supervisor: Advisors: Professor Alf Kåre Ådnanes.2 Reporting The research will be documented in a doctoral thesis as well as in papers published in international conferences and journals. the Energy Management System (EMS) monitors and controls the energy flow in a way that utilizes the installed and running equipment with optimum fuel efficiency. (1997). Department of Engineering Cybernetics . 6 Work plan 6.components.05. A special responsibility lies with the system integration responsible.2007 2004 3 4 Coursework Modeling Control system designs Simulation Thesis writing Dissertation 2005 2 3 2006 2 3 2007 1 2 1 4 1 4 6.1 Schedule Project start: Project termination: 18. and experience has shown that it might be a challenging work to coordinate the overall system robustness and optimization. Here are the fast control functions and safety functions implemented. Mariani et al. The purpose of the Power Management System (PMS) is to ensure that there is sufficient available power for the actual operating condition. The energy management system’s main functions can be grouped in: • • • Power generation management Load management Distribution management The new generation production vessels and also drill ships/rigs have a complex power system configuration with advanced protection and relaying philosophies.2004 18.05. There are close connections between the functional design and performance of the energy control system (power management system) and the power protection system functions. These are linked to the system control level by hard-wired or field-bus signal interface. While the PMS only consider the power flow.
A. Mathematical modelling of diesel-electric propulsion systems for marine vessels.Marine Control Systems TMA4145 .Linear System Theory 7 References Ådnanes. Mohtadi and P. Proceeding of IFAC Conference: Control Applications in Marine Systems.K.Linear Methods TTK4115 .5 7. Automation and Positioning System for the Marine. A. pp.S. Springer-Verlag. the Norwegian University of Science and TechnologyNTNU. Lunze and M.. Proceedings of Second International Conference on Diesel Electric Propulsion (DEP’98). Norway. J. PhD thesis. 1-22. Ådnanes. Bordons (1995). J. Diagnostics and Fault-Tolerant Control. Japan. Hansen. (1999). Maritime Electrical Installations and Diesel Electric Propulsion.5 7. Hansen. Oil and Gas Market. Staroswiecki (2003). Department of Engineering Cybernetics. Lauvdal (1998). C.F. Model Predictive Control in the Process Industry. Berlin. Int. pp.. 137-161. Germany. J. E. Camacho. Springer-Verlag. Hansen. Fukuoka. A. simulation and multivariable model-based predictive control of marine power generation system. Ådnanes.F. M. October 1999.I. Finland.. Ådnanes and T. Trondheim. Houston. Dynamic Positioning Conference DPC. Modeling and Control of Marine Power Systems. A.F. Advances in Industrial Control. Optimization of Power and Station Keeping Installations by a Total System Design Approach. Journal of Mathematical and Computer Modelling of Dynamical Systems.5 Self study courses: TMR4240 .I. Fossen (2000).6. Sørensen and T. Gereralized Predictive Control. .4 List of courses Compulsory courses: Course number TK8103 TK8101 TET4190 TK 8102 Course title Advanced Nonlinear Systems Optimal Control of Dynamics Systems Power Electronics for Renewable Energy Nonlinear Observer Design Exam period 2004+H 2006+V ? 2003 H ? 2006+V ? Course type DR DR ORD DR Credits 7. Helsinki. (2000). Tuffs (1987). Modelling. Tutorial Report. K. A. (2003). M. J. D. ABB AS Marine. Ådnanes and T.F. 45-50. A. Report 2000:9-W. Variable Speed Thruster Drives: The Means to Utilize the Features of a Fully Integrated Electrical Power. and C. Kinnaert.K. CAMS’98.K.5 7.W. Clarke.. Blanke. J. K. Automatica 23(2). Fossen (1998)..
J. Kanazawa. Johnson. M. Ordys. Advances in Industrial Control. Brijuni. . Leira. Marine Cybernetics: Modeling and Control. High Performance Thrust Allocation Scheme in Positioning of Ships Based on Power and Torque Control. and S. J. Italy. 1-14. R. Grimble (1994). pp. A New Method of Thruster Control in Positioning of Ships Based on Power Control. Sørensen.. Sørensen. Dynamic Positioning Conference. A. Department of Marine Technology. A. Structural Issues in the Design of Marine Control Systems. J. In Proceedings of OMAE'02. Sørensen and C. Mariani. 172-179. August 25 . Modeling and Simulation of Power Generation Plants. Sørensen. Fourth Edition. A. Norway. A. Advances in Industrial Control. A. Croatia. Larsen (2002). Murthy (1997). Strand (1997). MARSIM'03. Texas. E. Reliability-Based Schemes for Control of Riser Response and Dynamic Positioning of Floating Vessels. In Proceedings of the IFAC Conference on Control Applications in Marine Systems (CAMS2004). Ancona.. Springer-Verlag. J. In Proceedings of International Conference on Marine Simulation And Ship Maneuverability. B. J. Key Note Lecture. pp.A. Fossen and J.S.B. I. and A.J. (2004b). A. J. Ådnanes (1997). 21st International Conference on Offshore Mechanics and Arctic Engineering.M. UK-04-76. Lecture Notes. Oslo. Katebi and M. Sørensen. the Norwegian University of Science and TechnologyNTNU. Control of Modern Integrated Power Systems. Sørensen. 7 – 9 July. Marine Technology Society.. T. Pedersen and Ø. Smogeli (2003).W.. K. A. J. Dynamic Positioning Committee. John Wiley & Sons. A. paper OMAE2002-28436.W.28. Simulation-Based Design and Testing of Dynamically Positioned Marine Vessels. Pike. Norway. Japan. Simulation and Control of Electrical Power Stations. E. Ådnanes. Trondheim. Springer-Verlag. Houston. (2004a). J. Proceedings of 4th IFAC Conference on Maneuvering and Control of Marine Craft (MCMC’97). M. A. Session 9. P. (1990).Knowles. K.
This action might not be possible to undo. Are you sure you want to continue?
We've moved you to where you read on your other device.
Get the full title to continue reading from where you left off, or restart the preview.